{"id":"https://openalex.org/W4294672832","doi":"https://doi.org/10.1109/rcar54675.2022.9872263","title":"Blended CPG and Independent Foot Trajectory Planning for Quadruped Robot","display_name":"Blended CPG and Independent Foot Trajectory Planning for Quadruped Robot","publication_year":2022,"publication_date":"2022-07-17","ids":{"openalex":"https://openalex.org/W4294672832","doi":"https://doi.org/10.1109/rcar54675.2022.9872263"},"language":"en","primary_location":{"id":"doi:10.1109/rcar54675.2022.9872263","is_oa":false,"landing_page_url":"https://doi.org/10.1109/rcar54675.2022.9872263","pdf_url":null,"source":{"id":"https://openalex.org/S4363608312","display_name":"2022 IEEE International Conference on Real-time Computing and Robotics (RCAR)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"conference"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2022 IEEE International Conference on Real-time Computing and Robotics (RCAR)","raw_type":"proceedings-article"},"type":"article","indexed_in":["crossref"],"open_access":{"is_oa":false,"oa_status":"closed","oa_url":null,"any_repository_has_fulltext":false},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5103255629","display_name":"Muxuan Han","orcid":"https://orcid.org/0000-0002-3642-0782"},"institutions":[{"id":"https://openalex.org/I3131625388","display_name":"University Town of Shenzhen","ror":"https://ror.org/05f5j6225","country_code":"CN","type":"education","lineage":["https://openalex.org/I3131625388"]},{"id":"https://openalex.org/I204983213","display_name":"Harbin Institute of Technology","ror":"https://ror.org/01yqg2h08","country_code":"CN","type":"education","lineage":["https://openalex.org/I204983213"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Muxuan Han","raw_affiliation_strings":["Harbin Institute of Technology, Shenzhen, HIT Campus, University Town of Shenzhen, Xili, Nanshan,School of Mechanical Engineering and Automation,Shenzhen,China","School of Mechanical Engineering and Automation, Harbin Institute of Technology, Shenzhen, HIT Campus, University Town of Shenzhen, Xili, Nanshan, Shenzhen, China"],"affiliations":[{"raw_affiliation_string":"Harbin Institute of Technology, Shenzhen, HIT Campus, University Town of Shenzhen, Xili, Nanshan,School of Mechanical Engineering and Automation,Shenzhen,China","institution_ids":["https://openalex.org/I3131625388"]},{"raw_affiliation_string":"School of Mechanical Engineering and Automation, Harbin Institute of Technology, Shenzhen, HIT Campus, University Town of Shenzhen, Xili, Nanshan, Shenzhen, China","institution_ids":["https://openalex.org/I3131625388","https://openalex.org/I204983213"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5038101626","display_name":"Pengyu Jie","orcid":null},"institutions":[{"id":"https://openalex.org/I3131625388","display_name":"University Town of Shenzhen","ror":"https://ror.org/05f5j6225","country_code":"CN","type":"education","lineage":["https://openalex.org/I3131625388"]},{"id":"https://openalex.org/I204983213","display_name":"Harbin Institute of Technology","ror":"https://ror.org/01yqg2h08","country_code":"CN","type":"education","lineage":["https://openalex.org/I204983213"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Pengyu Jie","raw_affiliation_strings":["Harbin Institute of Technology, Shenzhen, HIT Campus, University Town of Shenzhen, Xili, Nanshan,School of Mechanical Engineering and Automation,Shenzhen,China","School of Mechanical Engineering and Automation, Harbin Institute of Technology, Shenzhen, HIT Campus, University Town of Shenzhen, Xili, Nanshan, Shenzhen, China"],"affiliations":[{"raw_affiliation_string":"Harbin Institute of Technology, Shenzhen, HIT Campus, University Town of Shenzhen, Xili, Nanshan,School of Mechanical Engineering and Automation,Shenzhen,China","institution_ids":["https://openalex.org/I3131625388"]},{"raw_affiliation_string":"School of Mechanical Engineering and Automation, Harbin Institute of Technology, Shenzhen, HIT Campus, University Town of Shenzhen, Xili, Nanshan, Shenzhen, China","institution_ids":["https://openalex.org/I3131625388","https://openalex.org/I204983213"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5016878111","display_name":"Guangzeng Chen","orcid":"https://orcid.org/0000-0001-6873-747X"},"institutions":[{"id":"https://openalex.org/I204983213","display_name":"Harbin Institute of Technology","ror":"https://ror.org/01yqg2h08","country_code":"CN","type":"education","lineage":["https://openalex.org/I204983213"]},{"id":"https://openalex.org/I3131625388","display_name":"University Town of Shenzhen","ror":"https://ror.org/05f5j6225","country_code":"CN","type":"education","lineage":["https://openalex.org/I3131625388"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Guangzeng Chen","raw_affiliation_strings":["Harbin Institute of Technology, Shenzhen, HIT Campus, University Town of Shenzhen, Xili, Nanshan,School of Mechanical Engineering and Automation,Shenzhen,China","School of Mechanical Engineering and Automation, Harbin Institute of Technology, Shenzhen, HIT Campus, University Town of Shenzhen, Xili, Nanshan, Shenzhen, China"],"affiliations":[{"raw_affiliation_string":"Harbin Institute of Technology, Shenzhen, HIT Campus, University Town of Shenzhen, Xili, Nanshan,School of Mechanical Engineering and Automation,Shenzhen,China","institution_ids":["https://openalex.org/I3131625388"]},{"raw_affiliation_string":"School of Mechanical Engineering and Automation, Harbin Institute of Technology, Shenzhen, HIT Campus, University Town of Shenzhen, Xili, Nanshan, Shenzhen, China","institution_ids":["https://openalex.org/I3131625388","https://openalex.org/I204983213"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5087749601","display_name":"Yunjiang Lou","orcid":"https://orcid.org/0000-0001-8203-7795"},"institutions":[{"id":"https://openalex.org/I3131625388","display_name":"University Town of Shenzhen","ror":"https://ror.org/05f5j6225","country_code":"CN","type":"education","lineage":["https://openalex.org/I3131625388"]},{"id":"https://openalex.org/I204983213","display_name":"Harbin Institute of Technology","ror":"https://ror.org/01yqg2h08","country_code":"CN","type":"education","lineage":["https://openalex.org/I204983213"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yunjiang Lou","raw_affiliation_strings":["Harbin Institute of Technology, Shenzhen, HIT Campus, University Town of Shenzhen, Xili, Nanshan,School of Mechanical Engineering and Automation,Shenzhen,China","School of Mechanical Engineering and Automation, Harbin Institute of Technology, Shenzhen, HIT Campus, University Town of Shenzhen, Xili, Nanshan, Shenzhen, China"],"affiliations":[{"raw_affiliation_string":"Harbin Institute of Technology, Shenzhen, HIT Campus, University Town of Shenzhen, Xili, Nanshan,School of Mechanical Engineering and Automation,Shenzhen,China","institution_ids":["https://openalex.org/I3131625388"]},{"raw_affiliation_string":"School of Mechanical Engineering and Automation, Harbin Institute of Technology, Shenzhen, HIT Campus, University Town of Shenzhen, Xili, Nanshan, Shenzhen, China","institution_ids":["https://openalex.org/I3131625388","https://openalex.org/I204983213"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5103255629"],"corresponding_institution_ids":["https://openalex.org/I204983213","https://openalex.org/I3131625388"],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":{"value":0.13624019,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"738","last_page":"743"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10879","display_name":"Robotic Locomotion and Control","score":1.0,"subfield":{"id":"https://openalex.org/subfields/2204","display_name":"Biomedical Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T10879","display_name":"Robotic Locomotion and Control","score":1.0,"subfield":{"id":"https://openalex.org/subfields/2204","display_name":"Biomedical Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T11023","display_name":"Prosthetics and Rehabilitation Robotics","score":0.9757000207901001,"subfield":{"id":"https://openalex.org/subfields/2204","display_name":"Biomedical Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T11615","display_name":"Control and Dynamics of Mobile Robots","score":0.9409999847412109,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.7933965921401978},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.7141990065574646},{"id":"https://openalex.org/keywords/flexibility","display_name":"Flexibility (engineering)","score":0.5963495969772339},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5565890669822693},{"id":"https://openalex.org/keywords/central-pattern-generator","display_name":"Central pattern generator","score":0.5462132096290588},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.5426557064056396},{"id":"https://openalex.org/keywords/gait","display_name":"Gait","score":0.4960649907588959},{"id":"https://openalex.org/keywords/obstacle","display_name":"Obstacle","score":0.44073885679244995},{"id":"https://openalex.org/keywords/robot-kinematics","display_name":"Robot kinematics","score":0.42448702454566956},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.36207109689712524},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.3514766991138458},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.35084980726242065},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.3419356346130371},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.27933889627456665},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.25117170810699463},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.10893991589546204},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.0871962308883667},{"id":"https://openalex.org/keywords/rhythm","display_name":"Rhythm","score":0.07794022560119629}],"concepts":[{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.7933965921401978},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.7141990065574646},{"id":"https://openalex.org/C2780598303","wikidata":"https://www.wikidata.org/wiki/Q65921492","display_name":"Flexibility (engineering)","level":2,"score":0.5963495969772339},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5565890669822693},{"id":"https://openalex.org/C169453685","wikidata":"https://www.wikidata.org/wiki/Q1054066","display_name":"Central pattern generator","level":3,"score":0.5462132096290588},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.5426557064056396},{"id":"https://openalex.org/C151800584","wikidata":"https://www.wikidata.org/wiki/Q2370000","display_name":"Gait","level":2,"score":0.4960649907588959},{"id":"https://openalex.org/C2776650193","wikidata":"https://www.wikidata.org/wiki/Q264661","display_name":"Obstacle","level":2,"score":0.44073885679244995},{"id":"https://openalex.org/C74222875","wikidata":"https://www.wikidata.org/wiki/Q16000312","display_name":"Robot kinematics","level":4,"score":0.42448702454566956},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.36207109689712524},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.3514766991138458},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.35084980726242065},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.3419356346130371},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.27933889627456665},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.25117170810699463},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.10893991589546204},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0871962308883667},{"id":"https://openalex.org/C135343436","wikidata":"https://www.wikidata.org/wiki/Q170406","display_name":"Rhythm","level":2,"score":0.07794022560119629},{"id":"https://openalex.org/C42407357","wikidata":"https://www.wikidata.org/wiki/Q521","display_name":"Physiology","level":1,"score":0.0},{"id":"https://openalex.org/C105795698","wikidata":"https://www.wikidata.org/wiki/Q12483","display_name":"Statistics","level":1,"score":0.0},{"id":"https://openalex.org/C1276947","wikidata":"https://www.wikidata.org/wiki/Q333","display_name":"Astronomy","level":1,"score":0.0},{"id":"https://openalex.org/C199539241","wikidata":"https://www.wikidata.org/wiki/Q7748","display_name":"Law","level":1,"score":0.0},{"id":"https://openalex.org/C17744445","wikidata":"https://www.wikidata.org/wiki/Q36442","display_name":"Political science","level":0,"score":0.0},{"id":"https://openalex.org/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"score":0.0},{"id":"https://openalex.org/C24890656","wikidata":"https://www.wikidata.org/wiki/Q82811","display_name":"Acoustics","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/rcar54675.2022.9872263","is_oa":false,"landing_page_url":"https://doi.org/10.1109/rcar54675.2022.9872263","pdf_url":null,"source":{"id":"https://openalex.org/S4363608312","display_name":"2022 IEEE International Conference on Real-time Computing and Robotics (RCAR)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"conference"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2022 IEEE International Conference on Real-time Computing and Robotics (RCAR)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"score":0.5199999809265137,"id":"https://metadata.un.org/sdg/11","display_name":"Sustainable cities and communities"}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":17,"referenced_works":["https://openalex.org/W1494916908","https://openalex.org/W1975230295","https://openalex.org/W1988274707","https://openalex.org/W1988706203","https://openalex.org/W1996988990","https://openalex.org/W2057952125","https://openalex.org/W2141791321","https://openalex.org/W2157298221","https://openalex.org/W2531596132","https://openalex.org/W2909331752","https://openalex.org/W2909553221","https://openalex.org/W3008164102","https://openalex.org/W3090084866","https://openalex.org/W3137481077","https://openalex.org/W3195146316","https://openalex.org/W4250058668","https://openalex.org/W6682945203"],"related_works":["https://openalex.org/W2794103424","https://openalex.org/W1996530509","https://openalex.org/W3028317537","https://openalex.org/W2389515972","https://openalex.org/W4245435724","https://openalex.org/W2055301889","https://openalex.org/W4400979532","https://openalex.org/W2281433634","https://openalex.org/W2135090907","https://openalex.org/W2402852349"],"abstract_inverted_index":{"With":[0],"the":[1,27,38,43,49,54,83,93,97,100,107,111,136,152,161,168,172,177,180,191,195],"development":[2],"of":[3,42,48,74,103,160,202],"society":[4],"and":[5,12,21,30,46,61,106,133,145,171,179,186],"science,":[6],"quadruped":[7,50,203],"robot":[8,163],"has":[9,88,194],"been":[10],"researched":[11],"used":[13],"in":[14,23,135],"security":[15],"patrols,":[16],"logistics":[17,19],"sorting,":[18],"distribution,":[20],"working":[22],"harsh":[24],"environment":[25],"for":[26],"low":[28],"cost":[29],"its":[31,146],"strong":[32],"flexibility.":[33],"The":[34,63,127,157],"gait":[35,56],"planning":[36,123,184],"is":[37,125,130,154,164,188],"most":[39],"direct":[40],"manifestation":[41],"movement":[44],"ability":[45],"performance":[47],"robot,":[51],"which":[52,139,150],"requires":[53],"robot's":[55],"to":[57,95,109],"have":[58],"high":[59,101],"coordination":[60],"stability.":[62],"Central":[64],"Pattern":[65],"Generator":[66],"(CPG)":[67],"can":[68,140],"generate":[69],"simple":[70],"harmonic":[71],"rhythmic":[72],"motion":[73],"specific":[75],"joints":[76],"like":[77],"humans":[78],"or":[79],"other":[80],"organisms,":[81],"but":[82],"traditional":[84,169],"CPG":[85,170,178],"control":[86,159,173,201],"method":[87,124,174,193],"some":[89],"defects,":[90],"such":[91],"as":[92],"inability":[94,108],"change":[96],"trajectory":[98,104,122,129,183],"characteristics,":[99],"coupling":[102],"parameters,":[105],"complete":[110],"spanning":[112],"phase":[113],"planning,":[114],"etc.":[115],"In":[116],"this":[117],"paper,":[118],"an":[119],"independent":[120,181],"foot":[121,128,182],"proposed.":[126],"independently":[131],"designed":[132],"planned":[134],"task":[137],"space,":[138],"meet":[141],"more":[142,155,199],"customized":[143],"requirements,":[144],"parameters":[147],"are":[148],"decoupled":[149],"means":[151],"adjustment":[153],"flexible.":[156],"locomotion":[158],"manufactured":[162],"carried":[165],"out":[166],"by":[167],"that":[175,190,197],"integrates":[176],"respectively,":[185],"it":[187],"demonstrated":[189],"new":[192],"characteristic":[196],"allows":[198],"complex":[200],"robot.":[204]},"counts_by_year":[],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}
